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本文首先考虑了动态的机械臂混合控制问题,根据得到的受约束机械臂动力学方程,给出了新的控制律,同时讨论了稳定性和鲁棒性问题。得到了运动和力的误差估计。考虑到负载效应,推广了力控制的方向。
In this paper, we first consider the dynamic manipulator hybrid control problem, and give a new control law according to the dynamics equations of the constrained manipulator. At the same time, the stability and robustness are discussed. Got the error of motion and force estimation. Taking into account the load effect, the promotion of force control direction.